Anglès: The world of controllers and drones is a field with space for improvements and discoveries. There are many uses for the drones, the main problem is its high price. A good drone easy to control, stable and with a great payload capacity is very expensive. The propose of this project is to improve an ordinary drone like ARdrone from Parrot, in order to do it its hardware, sensors and camera are used to create a more accurate controller. First of all the tools used in the project like ROS ros-matlab the different modules used in ROS are explained. After that ARdrone sensors were and checked if they are exact enough to reach the desired results, improving its performance calibrating the camera and using empiric correlations. A basic controller has been adjusted empirically to model the system. That model wasn't accurate enough so a different strategy has been used to design a cascade controller. This controllers adjusted using mathematical tools in Simutlink, until the desired controller has been obtained. Finally, the global system accuracy has been tested comparing it with the default software and conclusions obtained.